

% Check which observations fall in gates of existing tracks
% for i = 1: no of existing tracks (both candidate and confirmed)
%   Compile list of observations in gate of track i
%   Choose best observation in gate (data association), if any to update filter
%   else coast filter
%   Delete candidate tracks which fail N/M test
% end for

% Start tentative tracks for each observation
% for k = 1: no of unassigned measurements
%   Init filter for measurement k and append to track list
% end


    